Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 152 of 909
Other Traverse Mode Notes
The following are other notes related to operation in Traverse mode.
l
MFA() is not used at this time in Traverse mode.
l
MFD() should only be used for a stop from the X command while in Traverse mode.
l
The traverse points are in the context of move generator 2: RPC(2). If multiple
trajectories are commanded after the start of the move, then they are not specifically in
the context of the motor shaft's actual position (RPA).
l
RPC is automatically copied to RPC(2) at the start of the Traverse move only during
single-trajectory moves. This is done to accommodate the typical use of a single
trajectory where the user is homing the machine based on shaft position.
l
If multiple trajectories are active, then the user is responsible for setting RPC(2) with
the O(2)= command or shifting with the OSH(2)= command to establish the desired
frame of reference.
CAUTION: Do not issue a change to RPC(2) during a traverse move using
either the O(2)= or OSH(2)= command. This will produce unpredictable
behavior that is undefined at this time. Those commands should be issued
before issuing a G or G(2) when in dual-trajectory mode.
l
MFMUL and MFDIV determine the ratio of master to slave motion as a maximum when a
slew is reached.
l
The sign of MFMUL/MFDIV is irrelevant in this mode of operation. Only the
absolute value is used.
l
The initial direction of motion is not affected by the sign of MFMUL/MFDIV.
l
If MFMUL=0, then the traverse process ends when the next endpoint is reached.
l Traverse mode of operation is initiated using the G command. G may be issued from
drive off or other modes of operation.
CAUTION: Do not repeat the G command while in traverse mode. Doing so
will produce unpredictable behavior that is undefined at this time.
Part 1: Programming: Other Traverse Mode Notes
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